Gerhard Lakemeyer

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This article describes the software architecture of an autonomous, interactive tour-guide robot. It presents a modular and distributed software architecture, which integrates localization, mapping, collision avoidance, planning, and various modules concerned with user interaction and Web-based telepresence. At its heart, the software approach relies on(More)
This paper describes the software architecture of an autonomous tour-guide/tutor robot. This robot was recently deployed in the “Deutsches Museum Bonn,” were it guided hundreds of visitors through the museum during a six-day deployment period. The robot’s control software integrates low-level probabilistic reasoning with high-level problem solving embedded(More)
Achtung: Hierbei handelt es sich nicht um ein offizielles Prüfungsprotokoll der RWTH sondern um ein privates Gedächtnisprotokoll, das ca. eine Stunde nach der Prüfung angefertigt wurde. Da Fragen und Antworten teilweise ziemlich frei waren (und auch nur Sinn mit Gestik und Abbildungen machen) beschränke ich mich hier auf den abgefragten Stoff. Die richtigen(More)
The control of mobile robots acting autonomously in the real world is one of the long-term goals of the field of artificial intelligence. So far the field lacks methods bridging the gap between the sophisticated symbolic techniques to represent and reason about action and more and more reliable low-level robot control and navigation systems. In this paper(More)
GOLOG is a high-level programming language for the specification of complex actions. It combines the situation calculus with control structures known from conventional programming languages. Given a suitable axiomatization of what the world is like initially and how the primitive actions change the world, the GOLOG interpreter derives for each program a(More)
Levesque introduced a notion of “only knowing”, with the goal of capturing certain types of nonmonotonic reasoning. Levesque’s logic dealt with only the case of a single agent. Recently, both Halpern and Lakemeyer independently attempted to extend Levesque’s logic to the multi-agent case. Although there are a number of similarities in their approaches,(More)
Typical Golog programs for robot control are nonterminating. Analyzing such programs so far requires metatheoretic arguments involving complex fix-point constructions. In this paper we propose a logic based on the situation calculus variant ES , which includes elements from branching time, dynamic and process logics and where the meaning of programs is(More)
The situation calculus, as proposed by McCarthy and Hayes, and developed over the last decade by Reiter and co-workers, is reconsidered. A new logical variant is proposed that captures much of the expressive power of the original, but where certain technical results are much more easily proven. This is illustrated using two existing non-trivial results: the(More)
In a seminal paper, Lin and Reiter introduced the notion of progression for basic action theories in the situation calculus. Unfortunately, progression is not first-order definable in general. Recently, Vassos, Lakemeyer, and Levesque showed that in case actions have only local effects, progression is firstorder representable. However, they could show(More)